CN113274172A - Multi-view fusion-based cartilage repair operation robot platform system - Google Patents

Multi-view fusion-based cartilage repair operation robot platform system Download PDF

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Publication number
CN113274172A
CN113274172A CN202110474281.4A CN202110474281A CN113274172A CN 113274172 A CN113274172 A CN 113274172A CN 202110474281 A CN202110474281 A CN 202110474281A CN 113274172 A CN113274172 A CN 113274172A
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China
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degree
mechanical arm
platform system
cartilage repair
workbench
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CN202110474281.4A
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Chinese (zh)
Inventor
唐倩
郭伏雨
冯琪翔
曹粮玉
张志豪
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Chongqing University
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Chongqing University
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Priority to CN202110474281.4A priority Critical patent/CN113274172A/en
Publication of CN113274172A publication Critical patent/CN113274172A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/30756—Cartilage endoprostheses
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/3094—Designing or manufacturing processes
    • A61F2/30942—Designing or manufacturing processes for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/3094—Designing or manufacturing processes
    • A61F2/30942—Designing or manufacturing processes for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques
    • A61F2002/30948—Designing or manufacturing processes for designing or making customized prostheses, e.g. using templates, CT or NMR scans, finite-element analysis or CAD-CAM techniques using computerized tomography, i.e. CT scans
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2/3094—Designing or manufacturing processes
    • A61F2002/30985—Designing or manufacturing processes using three dimensional printing [3DP]

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (AREA)
  • Robotics (AREA)
  • Transplantation (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Molecular Biology (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Medical Informatics (AREA)
  • Vascular Medicine (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Rheumatology (AREA)
  • Geometry (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • Prostheses (AREA)

Abstract

The invention discloses a multi-view fusion cartilage repair surgery robot platform system, which comprises a workbench, a multi-degree-of-freedom mechanical arm arranged on the workbench and a spray head arranged at the tail end of the mechanical arm, wherein the spray head is used for spraying raw materials and depositing the raw materials on the workbench to form a product. The material deposition by using the multi-degree-of-freedom articulated mechanical arm can remarkably expand the capability of an additive manufacturing process, is beneficial to depositing materials on a complex non-planar layer, and can form a structure with a complex geometric shape and curvature; compared with the traditional plane layer material deposition process, the correct printing fiber orientation can be obtained by matching the six-degree-of-freedom articulated mechanical arm with the spray head, and the structural strength of the skeleton can be obviously improved; bones that facilitate printing are able to locate fibers along three-dimensional curves.

Description

Multi-view fusion-based cartilage repair operation robot platform system
Technical Field
The invention relates to the technical field of cartilage repair, in particular to a multi-view fusion-based cartilage repair operation robot platform system.
Background
Existing cartilage repair typically employs additive manufacturing equipment that lays powder horizontally layer by layer and sinters to effect cartilage repair; because the shape of the skeleton is more complex than that of a common part, the surface of the skeleton is composed of a plurality of complex curved surfaces, the quality of the surface of the printed skeleton is difficult to ensure by using the traditional printing method, and the capability of the material additive manufacturing process based on material deposition is limited only by using a plane horizontal layer structural part, so that the skeleton printing method cannot be suitable for complex working conditions with higher requirements on the degree of freedom.
Therefore, in order to solve the above problems, a robot platform system based on multi-view fusion cartilage repair surgery is needed, and the device adopts a multi-degree-of-freedom mechanical arm to realize multi-degree-of-freedom cartilage repair and is applicable to complex repair conditions.
Disclosure of Invention
In view of the above, the invention provides a multi-view fusion-based cartilage repair surgical robot platform system, which adopts a multi-degree-of-freedom mechanical arm to realize multi-degree-of-freedom cartilage repair and is applicable to complex repair working conditions.
The multi-view fusion-based cartilage repair surgery robot platform system comprises a workbench, a multi-degree-of-freedom mechanical arm arranged on the workbench and a spray head arranged at the tail end of the multi-degree-of-freedom mechanical arm, wherein the spray head is used for spraying raw materials and depositing the raw materials on the workbench to form a product.
The nozzle comprises an injection cylinder, an injection needle arranged at the bottom of the injection cylinder and a piston arranged in the injection cylinder in a sliding fit manner, and the linear driving device is arranged at the tail end of the multi-degree-of-freedom mechanical arm and is used for driving the piston to slide in the injection cylinder.
Further, the tail end of the multi-degree-of-freedom mechanical arm is provided with a 3D industrial camera.
Further, install the degree of depth camera on the workstation, the degree of depth camera shoots towards the shower nozzle.
Further, install the camera support on the workstation, the degree of depth camera is installed on the camera support and the slant is down towards the shower nozzle.
Furthermore, channel steel-shaped clamping plates are installed at the tail ends of the multi-degree-of-freedom mechanical arms, the clamping plates are laterally opened, the linear driving device is installed in an inner cavity of the clamping plates, and a driving end of the linear driving device penetrates through the bottoms of the clamping plates to be matched with the piston in a driving mode.
Furthermore, the side part of the clamping plate is connected with a side baffle, and the injection cylinder is fixedly connected to the side baffle.
Further, a storage box is arranged below the workbench.
Further, the bottom of the storage box is provided with a roller.
Further, the driving end of the linear driving device is connected with a pressure sensor for detecting driving force.
The invention has the beneficial effects that:
the multi-degree-of-freedom mechanical arm is used for material deposition, so that the capability of an additive manufacturing process can be remarkably expanded, the deposition of materials on a complex non-planar layer is facilitated, and a structure with a complex geometric shape and curvature can be formed; compared with the traditional plane layer material deposition process, the correct printing fiber orientation can be obtained by matching the multi-degree-of-freedom mechanical arm with the spray head, and the structural strength of the skeleton can be obviously improved; enabling the printed bone to locate fibers along a three-dimensional curve; in addition, the spray head adopts an extrusion type spray head, so that the structure of the spray head is greatly simplified, and the running track of the spray head is favorably controlled.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a partial schematic view of the structure;
Detailed Description
As shown in the figure: the multi-view fusion cartilage repair surgery robot platform system based on the embodiment comprises a workbench 1, a multi-degree-of-freedom mechanical arm 2 installed on the workbench, and a spray head 3 installed at the tail end of the multi-degree-of-freedom mechanical arm, wherein the spray head is used for spraying raw materials and depositing the raw materials on the workbench to form a product. The product refers to a printed skeleton, the spray head 3 can adopt the existing additive manufacturing cold spray head, powder particles are sprayed out at the ultrahigh sound speed and deposited on the surface of the product, or the spray head can also be matched with a laser head, the laser head can sinter and melt the powder before deposition and deposit on the corresponding product surface, the spray head is of the existing structure, and the details are not repeated; the multi-degree-of-freedom mechanical arm adopts the existing structure, the existing six-degree-of-freedom joint type mechanical arm is adopted in the embodiment, the capability of an additive manufacturing process can be remarkably expanded by using the multi-degree-of-freedom mechanical arm to deposit materials on a complex non-planar layer, and a structure with a complex geometric shape and curvature can be formed; compared with the traditional plane layer material deposition process, the correct printing fiber orientation can be obtained by matching the multi-degree-of-freedom mechanical arm with the spray head, and the structural strength of the skeleton can be obviously improved; bones that facilitate printing are able to locate fibers along three-dimensional curves.
In the embodiment, the device further comprises a linear driving device 4, wherein the spray head 3 comprises a spray cylinder 3a, a spray needle 3b arranged at the bottom of the spray cylinder, and a piston 3c arranged in the spray cylinder in a sliding fit manner, and the linear driving device is arranged at the tail end of the multi-degree-of-freedom mechanical arm and is used for driving the piston to slide in the spray cylinder. The linear driving device adopts a brushless motor, and is combined with a figure 2, the ejection cylinder is of a cylindrical structure with an opening at the upper end, the piston is connected with the push rod, the output rod of the brushless motor drives the push rod to slide, so that the piston extrudes raw materials in the ejection cylinder, the raw materials can adopt a paste structure, the raw materials are ejected through the ejection needle head, and the raw materials ejected by the ejection needle head are ejected and deposited according to a preset track by controlling the moving track of the multi-freedom-degree mechanical arm so as to form a required product shape.
In this embodiment, the 3D industrial camera 5 is mounted at the end of the multi-degree-of-freedom mechanical arm. In this embodiment, the 3D industrial camera adopts an RVC X mini type camera, and may also adopt existing cameras of other types, and through three-dimensional scanning of the 3D industrial camera on the missing cartilage, different numbers of cameras, lenses with different focal lengths, and camera angles and distances may be selected, and point clouds may be generated according to different working distances and visual field ranges, so as to realize reconstruction printing of the cartilage model.
In this embodiment, the workbench is provided with a depth camera 6, and the depth camera shoots towards the spray head. In this embodiment, the depth camera is of a realsense d435i type, and may also be of other existing types; combine fig. 1 to show, be provided with on the workstation and restore ware 13, the shower nozzle spouts raw and other materials to restoring the deposit formation product in the ware, and corresponding degree of depth camera shoots towards the culture dish for shoot the position of degree of depth camera and shower nozzle, through the whole environment of degree of depth camera perception, can avoid shower nozzle and product to interfere, reduce the collision risk of shower nozzle and product, and realize the point cloud of many visual angles and rebuild, make the cartilage model more accurate.
In this embodiment, the workbench is provided with a camera support 7, and the depth camera is mounted on the camera support and faces the spray head obliquely and downwards. Referring to fig. 1, the camera support is of a frame structure, two rails are mounted above the camera support, a mounting seat 12 is slidably mounted on the rails, a mounting inclined surface is arranged on one side of the mounting seat facing the multi-degree-of-freedom mechanical arm, the depth camera is mounted on the mounting inclined surface so that the depth camera shoots in a direction inclined downwards towards the spray head, and the mounting seat is slidably mounted on the rails and facilitates adjustment of the position of the depth camera; the spatial layout of the whole system is facilitated by arranging the camera support.
In this embodiment, the tail end of the multi-degree-of-freedom mechanical arm is provided with a channel steel-shaped clamp plate 8, the clamp plate is laterally opened, the linear driving device 4 is installed in an inner cavity of the clamp plate, and a driving end of the linear driving device 4 penetrates through the bottom of the clamp plate to be matched with the piston in a driving mode. As shown in fig. 2, the arrangement of the clamping plate facilitates the installation of the linear driving device, and the clamping plate also serves as a guide device, thereby facilitating the improvement of the operation precision of the driving end of the linear driving device.
In this embodiment, a side baffle 9 is connected to the side of the clamp plate, and the injection cylinder 3a is fixedly connected to the side baffle. The side baffle is used for installing the injection cylinder and is also used for laterally blocking the side part of the injection cylinder and blocking splashes.
In this embodiment, a storage box 10 is disposed below the workbench 1. The storage box is of a rectangular box body structure, the split door is arranged on the storage box, and the storage box is used for installing electrical equipment corresponding to the multi-degree-of-freedom mechanical arm and storing matched tools, so that the operation is convenient.
In this embodiment, the bottom of the storage box is provided with a roller 11. Four universal rollers are arranged at four corners of the bottom of the storage box, so that the whole platform system is moved conveniently.
In this embodiment, a driving end of the linear driving device 4 is connected to a pressure sensor for detecting a driving force. The pressure sensor is favorable for accurately detecting the driving force of the linear driving device, so that the injection speed and the injection quantity of the nozzle can be accurately controlled.
In the using process, firstly, a DICOM format image is obtained by scanning damaged cartilage and normal cartilage of a human body by medical CT, a cartilage three-dimensional model is generated by the DICOM format image, and the damaged cartilage three-dimensional model is restored by comparing the damaged cartilage with the normal cartilage three-dimensional model to obtain an STL file of the cartilage three-dimensional model. After the skin on the surface of the damaged cartilage is cut open through an operation, a point cloud model of the damaged cartilage is obtained by using a depth camera on an operation platform, the obtained point cloud model is compared with the STL file of the cartilage three-dimensional model obtained in the front, and errors in the STL file of the cartilage three-dimensional model are eliminated.
Inputting the STL file of the three-dimensional model into a corresponding controller, and then outputting an ordered spray head track containing spray head position information; and the movement of the multi-degree-of-freedom mechanical arm is controlled according to a track algorithm, and the linear driving device extrudes the piston, so that the spray head sprays the raw materials and deposits layer by layer, and the expected printing effect is achieved.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims (10)

1. The utility model provides a fuse cartilage repair surgery robot platform system based on multi-view, its characterized in that: the multi-degree-of-freedom mechanical arm spraying device comprises a workbench, a multi-degree-of-freedom mechanical arm arranged on the workbench and a spray head arranged at the tail end of the multi-degree-of-freedom mechanical arm, wherein the spray head is used for spraying raw materials and depositing the raw materials on the workbench to form a product.
2. The multi-view fusion cartilage repair based surgical robotic platform system according to claim 1, wherein: the nozzle comprises an injection cylinder, an injection needle arranged at the bottom of the injection cylinder and a piston arranged in the injection cylinder in a sliding fit manner, and the linear driving device is arranged at the tail end of the multi-degree-of-freedom mechanical arm and is used for driving the piston to slide in the injection cylinder.
3. The multi-view fusion cartilage repair based surgical robotic platform system according to claim 1, wherein: and the tail end of the multi-degree-of-freedom mechanical arm is provided with a 3D industrial camera.
4. The multi-view fusion cartilage repair based surgical robotic platform system according to claim 3, wherein: the workbench is provided with a depth camera, and the depth camera shoots towards the spray head.
5. The multi-view fusion cartilage repair based surgical robotic platform system according to claim 4, wherein: the camera support is installed on the workbench, and the depth camera is installed on the camera support and faces the spray head obliquely downwards.
6. The multi-view fusion cartilage repair based surgical robotic platform system according to claim 2, wherein: the multi-degree-of-freedom mechanical arm is characterized in that a channel steel-shaped clamping plate is mounted at the tail end of the multi-degree-of-freedom mechanical arm, the clamping plate is provided with a lateral opening, the linear driving device is mounted in an inner cavity of the clamping plate, and a driving end of the linear driving device penetrates through the bottom of the clamping plate to be matched with the piston in a driving mode.
7. The multi-view fusion cartilage repair based surgical robotic platform system according to claim 3, wherein: the side part of the clamping plate is connected with a side baffle, and the injection cylinder is fixedly connected to the side baffle.
8. The multi-view fusion cartilage repair based surgical robotic platform system according to claim 1, wherein: and a storage box is arranged below the workbench.
9. The multi-view fusion cartilage repair based surgical robotic platform system according to claim 8, wherein: the bottom of the storage box is provided with a roller.
10. The multi-view fusion cartilage repair based surgical robotic platform system according to claim 2, wherein: and the driving end of the linear driving device is connected with a pressure sensor for detecting driving force.
CN202110474281.4A 2021-04-29 2021-04-29 Multi-view fusion-based cartilage repair operation robot platform system Pending CN113274172A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110474281.4A CN113274172A (en) 2021-04-29 2021-04-29 Multi-view fusion-based cartilage repair operation robot platform system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110474281.4A CN113274172A (en) 2021-04-29 2021-04-29 Multi-view fusion-based cartilage repair operation robot platform system

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CN113274172A true CN113274172A (en) 2021-08-20

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Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104688388A (en) * 2015-03-30 2015-06-10 中国人民解放军第三军医大学第一附属医院 3D (three-dimensional) printing technique-based cartilage repair system and method
CN105341280A (en) * 2015-10-09 2016-02-24 中国电子科技集团公司第二十研究所 Mechanical arm-based 3D food printer
CN105538732A (en) * 2016-03-15 2016-05-04 新疆大学 Coaxial 3D printer nozzle and working method thereof
CN105965897A (en) * 2016-06-29 2016-09-28 桂林电子科技大学 Mechanical-arm-type 3D printer
CN106361431A (en) * 2016-08-29 2017-02-01 杭州捷诺飞生物科技有限公司 Biological 3D printing technology-based cutting and repairing integrated surgical robot
CN109177147A (en) * 2018-08-31 2019-01-11 上海大学 Comprehensive shaping system is printed using containing multi-jet Coaxial nozzle device biology CAD/CAM/3D
CN111227935A (en) * 2020-02-20 2020-06-05 中国科学院长春光学精密机械与物理研究所 Surgical robot navigation positioning system
CN112976581A (en) * 2021-04-08 2021-06-18 重庆大学 Trajectory planning method based on multi-axis cartilage repair

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104688388A (en) * 2015-03-30 2015-06-10 中国人民解放军第三军医大学第一附属医院 3D (three-dimensional) printing technique-based cartilage repair system and method
CN105341280A (en) * 2015-10-09 2016-02-24 中国电子科技集团公司第二十研究所 Mechanical arm-based 3D food printer
CN105538732A (en) * 2016-03-15 2016-05-04 新疆大学 Coaxial 3D printer nozzle and working method thereof
CN105965897A (en) * 2016-06-29 2016-09-28 桂林电子科技大学 Mechanical-arm-type 3D printer
CN106361431A (en) * 2016-08-29 2017-02-01 杭州捷诺飞生物科技有限公司 Biological 3D printing technology-based cutting and repairing integrated surgical robot
CN109177147A (en) * 2018-08-31 2019-01-11 上海大学 Comprehensive shaping system is printed using containing multi-jet Coaxial nozzle device biology CAD/CAM/3D
CN111227935A (en) * 2020-02-20 2020-06-05 中国科学院长春光学精密机械与物理研究所 Surgical robot navigation positioning system
CN112976581A (en) * 2021-04-08 2021-06-18 重庆大学 Trajectory planning method based on multi-axis cartilage repair

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